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<div class="title">servo.h</div>  </div>
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<a href="../../de/d09/servo_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">    Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">    This program is free software: you can redistribute it and/or modify</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">    it under the terms of the GNU General Public License as published by</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">    the Free Software Foundation, either version 3 of the License, or</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">    (at your option) any later version.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">    This program is distributed in the hope that it will be useful,</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">    but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">    GNU General Public License for more details.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">    You should have received a copy of the GNU General Public License</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">    along with this program.  If not, see &lt;http://www.gnu.org/licenses/&gt;.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">    */</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * servo.h</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  Created on: 2009-apr-25</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *      Author: Benjamin</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * Changelog:</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * 2013-12-XX</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * - Port to ChibiOS and STM32F4</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * - probably more changes</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * 2011-12-08</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * - Renamed functions</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * - Fixed pulse issue when pulses are close together</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * 2011-07-17</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * - Changed some variables to volatile.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * - Added another command.</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> * 2010-11-13</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> * - Calculate the servo timings independent of F_CPU.</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> * - Cleanup</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#ifndef SERVO_H_</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#define SERVO_H_</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &quot;ch.h&quot;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &quot;hal.h&quot;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../db/dae/hw_8h.html">hw.h</a>&quot;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../df/df4/conf__general_8h.html">conf_general.h</a>&quot;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d3/d26/stm32f4xx__conf_8h.html">stm32f4xx_conf.h</a>&quot;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#ifndef _BV</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#a11643f271076024c395a93800b3d9546">   54</a></span>&#160;<span class="preprocessor">#define _BV(bit) (1 &lt;&lt; (bit))</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#ifndef MIN</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#a3acffbd305ee72dcd4593c0d8af64a4f">   58</a></span>&#160;<span class="preprocessor">#define MIN(a,b) (((a)&lt;(b))?(a):(b))</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#ifndef MAX</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#afa99ec4acc4ecb2dc3c2d05da15d0e3f">   62</a></span>&#160;<span class="preprocessor">#define MAX(a,b) (((a)&gt;(b))?(a):(b))</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">// Change these parameters</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#a5b4b344e1037b7fa2fb65cb9f23b1e31">   66</a></span>&#160;<span class="preprocessor">#define SERVOS_NUM  HW_SERVO_NUM        // Number of servos to use</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">// Servo timer speed in HZ</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#ace92cc68842421d2dba0bf77f5c06b3e">   69</a></span>&#160;<span class="preprocessor">#define SERVO_CNT_SPEED     1000000L</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment"> * Servo timing (in uS)</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="comment"> * The default signal to drive servos looks like this:</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="comment"> * ----1000us----|----1000us----|---20000us----</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment"> * _____________________________</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment"> *               |______________|_____...______</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment"> * -S_STARTPULSE-|--S_PULSELEN--|--S_COOLDOWN--</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment"> * And the default parameters are the following</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment"> * #define S_STARTPULSE     1000L</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment"> * #define S_PULSELEN       1000L</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="comment"> * #define S_COOLDOWN       20000L</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="comment"> * You can experiment with these to make your servo move further.</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="comment"> * For some servos these can be way out of spec.</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment"> * Note that S_PULSELEN is not accurate at all for low F_CPU. However,</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment"> * it will be rounded up to the nearest possible value (hence the strange</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment"> * calculation below)</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#a35b88eb1fce676679825b9738a67272c">   95</a></span>&#160;<span class="preprocessor">#define S_STARTPULSE    SERVO_OUT_PULSE_MIN_US</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#af038a616d759732cc1d2be0fbc3cb94b">   96</a></span>&#160;<span class="preprocessor">#define S_PULSELEN      (SERVO_OUT_PULSE_MAX_US - SERVO_OUT_PULSE_MIN_US)</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#af88ff96914d3f073b65045084d661c4e">   97</a></span>&#160;<span class="preprocessor">#define S_COOLDOWN      (1000000 / SERVO_OUT_RATE_HZ)</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment"> * Dynamic servo parameters</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment"> * Calculated from F_CPU</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#a376a42bdd5ff453c7aec5fe1bc1f10b9">  103</a></span>&#160;<span class="preprocessor">#define SERVO_START_OFFSET      (SERVO_CNT_SPEED / (1000000L / S_STARTPULSE))</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#a39c1c90ff1d3117fdd72af4ffa69c1c1">  104</a></span>&#160;<span class="preprocessor">#define SERVO_CPU_FACTOR        ((SERVO_CNT_SPEED + ((1000000L / S_PULSELEN) * 256L) - 1L) / ((1000000L / S_PULSELEN) * 256L)) // Round up</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#abfba947e62f306dc1e3bddd52e919c16">  105</a></span>&#160;<span class="preprocessor">#define SERVO_COOLDOWN_FACTOR   (SERVO_CNT_SPEED / (1000000L / S_COOLDOWN))</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="comment"> * Compile with commands to mode servos with a specified speed</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="comment"> * to s specified position interrupt driven. Enabling this will</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="comment"> * use some extra ram and a few bytes of flash.</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#a4c9e0256311a127b25b74d6e289d35ed">  112</a></span>&#160;<span class="preprocessor">#define USE_COMMANDS 0</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment"> * Calculate how many clock cycles it takes to generate PWM.</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#acd8242192c747155106d69a8dab670a6">  117</a></span>&#160;<span class="preprocessor">#define TEST_CYCLE_TIME 0</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="preprocessor">#if TEST_CYCLE_TIME</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">extern</span> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> restart_cnt;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword">extern</span> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> interrupt_cnt;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="preprocessor">#define get_restart_cycles()    (restart_cnt)</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="preprocessor">#define get_interrupt_cycles()  (interrupt_cnt)</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="comment">// Servo macros</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#a27e8e86651c3cda4787bc9cce95ca4f1">  128</a></span>&#160;<span class="preprocessor">#define ACTUAL_POS(servo)           (MAX(MIN(servo.pos + (signed short)servo.offset, 255), 0))</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#a0281665406c147f639401f3eeddd403f">  129</a></span>&#160;<span class="preprocessor">#define ACTUAL_POS_PTR(servo)       (MAX(MIN(servo-&gt;pos + (signed short)servo-&gt;offset, 255), 0))</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#ad530a6cb51cef3e738eff2aab061d485">  130</a></span>&#160;<span class="preprocessor">#define CMD_MS_TO_VAL(ms)           ((ms) / (((S_STARTPULSE + S_PULSELEN + S_COOLDOWN) * CMD_WAIT_FACTOR) / 1000))</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="../../de/d09/servo_8h.html#abe965d86ae54d7d49cf7d38e945afd19">  131</a></span>&#160;<span class="preprocessor">#define SERVO_PERIOD_TIME_MS        ((S_STARTPULSE + S_PULSELEN + S_COOLDOWN) / 1000)</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="comment">// Some servo speed defines</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="comment">// TODO</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="../../da/d3e/struct_s_e_r_v_o.html">  136</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span>{</div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="../../da/d3e/struct_s_e_r_v_o.html#a39409ea333d7ec5a82aef932f30f8867">  137</a></span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">signed</span> <span class="keywordtype">short</span> <a class="code" href="../../da/d3e/struct_s_e_r_v_o.html#a39409ea333d7ec5a82aef932f30f8867">pos</a>;</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="../../da/d3e/struct_s_e_r_v_o.html#a13d0f87fe22730307fb653c5370d062b">  138</a></span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="../../da/d3e/struct_s_e_r_v_o.html#a13d0f87fe22730307fb653c5370d062b">offset</a>;</div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="../../da/d3e/struct_s_e_r_v_o.html#a9d9aec8d08779b9692169a2f5b3281e0">  139</a></span>&#160;    GPIO_TypeDef* <a class="code" href="../../da/d3e/struct_s_e_r_v_o.html#a9d9aec8d08779b9692169a2f5b3281e0">gpio</a>;</div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="../../da/d3e/struct_s_e_r_v_o.html#a57e96ac52d84e279b207515b0f55ec85">  140</a></span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="../../da/d3e/struct_s_e_r_v_o.html#a57e96ac52d84e279b207515b0f55ec85">pin</a>;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;} <a class="code" href="../../da/d3e/struct_s_e_r_v_o.html">SERVO</a>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="preprocessor">#if USE_COMMANDS</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span>{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">signed</span> <span class="keywordtype">char</span> active;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">signed</span> <span class="keywordtype">short</span> pos;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">signed</span> <span class="keywordtype">short</span> speed;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">signed</span> <span class="keywordtype">short</span> last;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;} SERVO_CMD;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="keyword">extern</span> <span class="keyword">volatile</span> <span class="keywordtype">signed</span> <span class="keywordtype">char</span> cmd_seq_running;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="keyword">extern</span> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cmd_ptr;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="keyword">extern</span> <span class="keyword">volatile</span> <span class="keyword">const</span> <span class="keywordtype">signed</span> <span class="keywordtype">short</span> *cmd_seq;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment"> * The number of servo cycles to wait for each time unit in the wait command.</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="comment"> * The wait time can be calculated with:</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="comment"> * (S_STARTPULSE + S_PULSELEN + S_COOLDOWN) * CMD_WAIT_FACTOR</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="preprocessor">#define CMD_WAIT_FACTOR     1</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="comment"> * Servo commands.</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="comment"> * Move servo to given position with given speed.</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment"> * Param 1: Servo.</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment"> * Param 2: Position.</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="comment"> * Param 3: Speed. 0 for max speed.</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="preprocessor">#define CMD_MOVE_SERVO      0</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment"> * Move servo to given relative position with given speed.</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="comment"> * Param 1: Servo.</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="comment"> * Param 2: Relative position.</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="comment"> * Param 3: Speed. 0 for max speed.</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="preprocessor">#define CMD_MOVE_SERVO_REL      1</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="comment"> * Move multiple servos such that they arrive at the same time</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="comment"> * Param 1: Number of servos.</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment"> * Param 2: Time for movement in milliseconds</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment"> * Param 3: Servo 1 index</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment"> * Param 4: Servo 1 pos</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="comment"> * Param 5: Servo 2 index</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment"> * Param 6: Servo 2 pos</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="comment"> * ... and so on</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="preprocessor">#define CMD_MOVE_MULTIPLE_SERVOS        2</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="comment"> * Move all servos to center position</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment"> * Param 1: Time for movement in milliseconds</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="preprocessor">#define CMD_CENTER_ALL          3</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="comment"> * Wait for a while. See configuration for more info.</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="comment"> * Param 1: Time to wait</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="preprocessor">#define CMD_WAIT            4</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="comment"> * Wait for servo to be ready.</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="comment"> * Param 1: Servo to wait for.</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="preprocessor">#define CMD_WAIT_SERVO      5</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="comment"> * Wait for all servo commands to get ready.</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="preprocessor">#define CMD_WAIT_ALL_SERVOS 6</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="comment"> * Stop servo driver.</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="preprocessor">#define CMD_STOP_DRIVER     7</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="comment"> * End of command.</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="preprocessor">#define CMD_STOP_CMDS       8</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="comment"> * Restart this command sequence</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="preprocessor">#define CMD_RESTART         9</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="comment"> * Repeat command sequence a number of times</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="comment"> * Param 1: Number of times to repeat commands.</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="preprocessor">#define CMD_REPEAT          10</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="keyword">extern</span> <span class="keyword">volatile</span> <a class="code" href="../../da/d3e/struct_s_e_r_v_o.html">SERVO</a> <a class="code" href="../../de/d09/servo_8h.html#ae5f20028c2a7c8e5db512d342e409d4b">servos</a>[<a class="code" href="../../de/d09/servo_8h.html#a5b4b344e1037b7fa2fb65cb9f23b1e31">SERVOS_NUM</a>];</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../de/d09/servo_8h.html#a32befddd5759ec16ab7964d78e2252c5">servo_init</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../de/d09/servo_8h.html#a32699c625d5d389a417c90057232ff35">servo_stop_driver</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="../../de/d09/servo_8h.html#a2a1bd6b05e410ad098c24e44a2793b88">servo_driver_is_active</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../de/d09/servo_8h.html#aff30b246975c4fa2f36ab697e69ca3b8">servo_irq</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="preprocessor">#if USE_COMMANDS</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="keywordtype">void</span> servo_move(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> servo, <span class="keywordtype">signed</span> <span class="keywordtype">short</span> position, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> speed);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="keywordtype">void</span> servo_run_cmds(<span class="keyword">const</span> <span class="keywordtype">signed</span> <span class="keywordtype">short</span> *cmds);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="keywordtype">void</span> servo_stop_cmds(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="keywordtype">void</span> servo_reset_pos(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> speed);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="keywordtype">void</span> servo_wait_for_cmds(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="keywordtype">void</span> servo_move_within_time(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> servo, <span class="keywordtype">signed</span> <span class="keywordtype">short</span> pos, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> time_ms);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="keywordtype">void</span> servo_move_within_time_multiple(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> time_ms, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> num, ...);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* SERVO_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="struct_s_e_r_v_o_html_a39409ea333d7ec5a82aef932f30f8867"><div class="ttname"><a href="../../da/d3e/struct_s_e_r_v_o.html#a39409ea333d7ec5a82aef932f30f8867">SERVO::pos</a></div><div class="ttdeci">volatile signed short pos</div><div class="ttdef"><b>Definition:</b> servo.h:137</div></div>
<div class="ttc" id="servo_8h_html_a32befddd5759ec16ab7964d78e2252c5"><div class="ttname"><a href="../../de/d09/servo_8h.html#a32befddd5759ec16ab7964d78e2252c5">servo_init</a></div><div class="ttdeci">void servo_init(void)</div></div>
<div class="ttc" id="struct_s_e_r_v_o_html"><div class="ttname"><a href="../../da/d3e/struct_s_e_r_v_o.html">SERVO</a></div><div class="ttdef"><b>Definition:</b> servo.h:136</div></div>
<div class="ttc" id="servo_8h_html_a2a1bd6b05e410ad098c24e44a2793b88"><div class="ttname"><a href="../../de/d09/servo_8h.html#a2a1bd6b05e410ad098c24e44a2793b88">servo_driver_is_active</a></div><div class="ttdeci">unsigned char servo_driver_is_active(void)</div></div>
<div class="ttc" id="hw_8h_html"><div class="ttname"><a href="../../db/dae/hw_8h.html">hw.h</a></div></div>
<div class="ttc" id="conf__general_8h_html"><div class="ttname"><a href="../../df/df4/conf__general_8h.html">conf_general.h</a></div></div>
<div class="ttc" id="struct_s_e_r_v_o_html_a57e96ac52d84e279b207515b0f55ec85"><div class="ttname"><a href="../../da/d3e/struct_s_e_r_v_o.html#a57e96ac52d84e279b207515b0f55ec85">SERVO::pin</a></div><div class="ttdeci">volatile unsigned int pin</div><div class="ttdef"><b>Definition:</b> servo.h:140</div></div>
<div class="ttc" id="servo_8h_html_ae5f20028c2a7c8e5db512d342e409d4b"><div class="ttname"><a href="../../de/d09/servo_8h.html#ae5f20028c2a7c8e5db512d342e409d4b">servos</a></div><div class="ttdeci">volatile SERVO servos[SERVOS_NUM]</div></div>
<div class="ttc" id="servo_8h_html_a5b4b344e1037b7fa2fb65cb9f23b1e31"><div class="ttname"><a href="../../de/d09/servo_8h.html#a5b4b344e1037b7fa2fb65cb9f23b1e31">SERVOS_NUM</a></div><div class="ttdeci">#define SERVOS_NUM</div><div class="ttdef"><b>Definition:</b> servo.h:66</div></div>
<div class="ttc" id="servo_8h_html_aff30b246975c4fa2f36ab697e69ca3b8"><div class="ttname"><a href="../../de/d09/servo_8h.html#aff30b246975c4fa2f36ab697e69ca3b8">servo_irq</a></div><div class="ttdeci">void servo_irq(void)</div></div>
<div class="ttc" id="struct_s_e_r_v_o_html_a13d0f87fe22730307fb653c5370d062b"><div class="ttname"><a href="../../da/d3e/struct_s_e_r_v_o.html#a13d0f87fe22730307fb653c5370d062b">SERVO::offset</a></div><div class="ttdeci">volatile unsigned char offset</div><div class="ttdef"><b>Definition:</b> servo.h:138</div></div>
<div class="ttc" id="struct_s_e_r_v_o_html_a9d9aec8d08779b9692169a2f5b3281e0"><div class="ttname"><a href="../../da/d3e/struct_s_e_r_v_o.html#a9d9aec8d08779b9692169a2f5b3281e0">SERVO::gpio</a></div><div class="ttdeci">GPIO_TypeDef * gpio</div><div class="ttdef"><b>Definition:</b> servo.h:139</div></div>
<div class="ttc" id="stm32f4xx__conf_8h_html"><div class="ttname"><a href="../../d3/d26/stm32f4xx__conf_8h.html">stm32f4xx_conf.h</a></div><div class="ttdoc">Library configuration file. </div></div>
<div class="ttc" id="servo_8h_html_a32699c625d5d389a417c90057232ff35"><div class="ttname"><a href="../../de/d09/servo_8h.html#a32699c625d5d389a417c90057232ff35">servo_stop_driver</a></div><div class="ttdeci">void servo_stop_driver(void)</div></div>
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